bts7960: Add new device package

Makefile

@@ -241,6 +241,9 @@ endif
 	@md5sum ./build/test.uf2
 	tinygo build -size short -o ./build/test.uf2 -target=circuitplay-express ./examples/makeybutton/main.go
 	@md5sum ./build/test.uf2
+	tinygo build -size short -o ./build/test.hex -target=arduino ./examples/bts7960/main.go
+	@md5sum ./build/test.hex
+
 
 # rwildcard is a recursive version of $(wildcard) 
 # https://blog.jgc.org/2011/07/gnu-make-recursive-wildcard-function.html

README.md

@@ -92,6 +92,7 @@ The following 81 devices are supported.
 | [4x4 Membrane Keypad](https://cdn.sparkfun.com/assets/f/f/a/5/0/DS-16038.pdf)                                                                                                                       | GPIO |
 | [L293x motor driver](https://www.ti.com/lit/ds/symlink/l293d.pdf)                                                                                                                                   | GPIO/PWM |
 | [L9110x motor driver](https://www.elecrow.com/download/datasheet-l9110.pdf)                                                                                                                         | GPIO/PWM |
+| [BTS7960 motor driver](https://www.handsontec.com/dataspecs/module/BTS7960%20Motor%20Driver.pdf)                                                                                                                         | GPIO/PWM |
 | [LIS2MDL magnetometer](https://www.st.com/resource/en/datasheet/lis2mdl.pdf)                                                                                                                        | I2C |
 | [LIS3DH accelerometer](https://www.st.com/resource/en/datasheet/lis3dh.pdf)                                                                                                                         | I2C |
 | [LPS22HB MEMS nano pressure sensor](https://www.st.com/resource/en/datasheet/dm00140895.pdf)                                                                                                        | I2C |

bts7960/bts7960.go

@@ -0,0 +1,86 @@
+package bts7960
+
+import (
+	"time"
+
+	"machine"
+)
+
+// PWM is the interface necessary for controlling the bts 7960 motor.
+type PWM interface {
+	Channel(pin machine.Pin) (channel uint8, err error)
+	Top() uint32
+	Set(channel uint8, value uint32)
+}
+
+// Device is the bts7960 device
+type Device struct {
+	lEn            machine.Pin
+	rEn            machine.Pin
+	lPwm           machine.Pin
+	rPwm           machine.Pin
+	rPwmCh, lPwmCh uint8
+	pwm            PWM
+}
+
+// New returns a new motor driver.
+func New(lEn, rEn, lPwm, rPwm machine.Pin, pwm PWM) *Device {
+	return &Device{lEn: lEn, rEn: rEn, lPwm: lPwm, rPwm: rPwm, pwm: pwm}
+}
+
+// Configure configures the Device.
+func (d *Device) Configure() error {
+	d.rPwm.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	d.lPwm.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	d.lEn.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	d.rEn.Configure(machine.PinConfig{Mode: machine.PinOutput})
+
+	var err error
+	d.lPwmCh, err = d.pwm.Channel(d.lPwm)
+	if err != nil {
+		println("failed to configure lpwn: " + err.Error())
+		return err
+	}
+
+	d.rPwmCh, err = d.pwm.Channel(d.rPwm)
+	if err != nil {
+		println("failed to configure rpwn: " + err.Error())
+		return err
+	}
+
+	d.Stop()
+
+	return nil
+}
+
+// Enable enables the motor driver
+func (d *Device) Enable() {
+	d.lEn.High()
+	d.rEn.High()
+}
+
+// Disable disabled the motor driver
+func (d *Device) Disable() {
+	d.lEn.Low()
+	d.rEn.Low()
+}
+
+// Stop stops the motor
+func (d *Device) Stop() {
+	d.pwm.Set(d.lPwmCh, 0)
+	d.pwm.Set(d.rPwmCh, 0)
+}
+
+// Left turns motor left.
+func (d *Device) Left(speed uint32) {
+	d.pwm.Set(d.rPwmCh, 0)
+	time.Sleep(time.Microsecond * 100)
+	d.pwm.Set(d.lPwmCh, d.pwm.Top()*speed/100)
+}
+
+// Right turns motor right.
+func (d *Device) Right(speed uint32) {
+	d.pwm.Set(d.lPwmCh, 0)
+	time.Sleep(time.Microsecond * 100)
+	d.pwm.Set(d.rPwmCh, d.pwm.Top()*speed/100)
+}

examples/bts7960/main.go

@@ -0,0 +1,45 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/bts7960"
+)
+
+// Configuration for the Arduino Uno.
+// Please change the PWM and pin if you want to try this example on a different
+// board.
+var (
+	pwm = machine.Timer0
+
+	rEn = machine.D2
+	lEn = machine.D3
+
+	rPwm = machine.PD5
+	lPwm = machine.PD6
+)
+
+func main() {
+	if err := pwm.Configure(machine.PWMConfig{}); err != nil {
+		println(err.Error())
+		return
+	}
+
+	bts := bts7960.New(lEn, rEn, lPwm, rPwm, pwm)
+	err := bts.Configure()
+	if err != nil {
+		println("cannot configure bts: " + err.Error())
+		return
+	}
+
+	println("rotating left")
+	bts.Left(50)
+
+	println("rotating left")
+	bts.Right(50)
+
+	for {
+		time.Sleep(time.Second)
+	}
+}